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Second-order damping method for inertial navigation system height channel under earth-centered earth-fixed coordinate system

A technology for a ground-fixed coordinate system and an inertial navigation system, which is applied in the field of high channel damping of the inertial navigation system, can solve problems such as poor practicability, and achieve the effects of good practicability, noise suppression, and skyward velocity error suppression.

Active Publication Date: 2020-06-05
NORTHWESTERN POLYTECHNICAL UNIV +1
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Problems solved by technology

[0004] In order to overcome the shortcomings of poor practicability of the existing inertial navigation system altitude channel damping method, the present invention provides a second-order damping method for the inertial navigation system altitude channel in the earth-centered ground-fixed coordinate system

Method used

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  • Second-order damping method for inertial navigation system height channel under earth-centered earth-fixed coordinate system
  • Second-order damping method for inertial navigation system height channel under earth-centered earth-fixed coordinate system
  • Second-order damping method for inertial navigation system height channel under earth-centered earth-fixed coordinate system

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Embodiment Construction

[0026] refer to Figure 1-5 . The specific steps of the second-order damping method of the altitude channel of the inertial navigation system under the earth-centered earth-fixed coordinate system of the present invention are as follows:

[0027] 1. The location information is converted to the Geography Department.

[0028] Define the earth-centered earth-fixed coordinate system (ECEF) as the e system; define the geographic coordinate system as the g system, and the coordinate axis points to the northeast sky direction of the local location. Arrange the position coordinate p of ECEF to be solved every cycle e =[x e the y e z e ] T Convert to geographic coordinate system position p g =[λ L h] T :

[0029] λ=atan2(y e ,x e ) (1)

[0030]

[0031]

[0032] where x e 、y e ,z e is the three-dimensional position coordinates calculated by inertial navigation in the ECEF coordinate system; λ, L, h are the longitude, latitude and altitude obtained through convers...

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Abstract

The invention discloses a second-order damping method of an inertial navigation system height channel under an earth-centered earth-fixed coordinate system. The second-order damping method is used forsolving the technical problem that an existing inertial navigation system height channel damping method is poor in practicability. According to the technical scheme, position coordinates of ECEF arrangement calculation are converted into a geographic coordinate system, then the difference between the inertia calculation height and the external measurement height is calculated and converted into an earth-centered earth-fixed coordinate system, and a second-order height damping network under ECEF arrangement is designed by referring to a classical geographic coordinate system height channel damping method. According to the invention, the conversion relationship between the ECEF coordinate system and the geographic coordinate system is utilized; the height measurement error is converted intoan earth-centered earth-fixed coordinate system; the second-order damping network is constructed to perform equivalent damping on the ECEF arrangement sky-direction channel, the noise and sudden change influence of the external measurement height are suppressed through the height damping coefficient, the sky-direction speed error is suppressed through the sky-direction speed damping coefficient,and the sky-direction speed and height precision of ECEF arrangement are improved. The method is highly practical.

Description

technical field [0001] The invention relates to a damping method for an altitude channel of an inertial navigation system, in particular to a second-order damping method for an altitude channel of an inertial navigation system in an earth-centered ground-fixed coordinate system. Background technique [0002] Compared with the inertial navigation arrangement in the classical geographic coordinate system, the navigation arrangement in the Earth-centered Earth-Fixed Coordinate System (ECEF) can realize global navigation including polar regions, and has a small amount of calculation and high calculation efficiency. However, the altitude channel of the inertial navigation system is unstable, and the pure inertial solution without external altitude damping is not suitable for long-term navigation. Since the ECEF coordinate system is a non-horizontal coordinate system, the divergent vertical channel error will be coupled to each axis, which will bring difficulties to the height dam...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/16G01C21/20
Inventor 付强文李四海贺剑郑翔明轩暴苗刚
Owner NORTHWESTERN POLYTECHNICAL UNIV
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